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A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master/Multi-Slave System

Published online by Cambridge University Press:  30 May 2019

Maryam Farahmandrad Open the ORCID record for Maryam Farahmandrad [Opens in a new window] ,
Soheil Ganjefar ,
Heidar Ali Talebi  and
Mahdi Bayati Open the ORCID record for Mahdi Bayati [Opens in a new window]
Maryam Farahmandrad
Affiliation:
Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails: m.farahmandrad@alumni.basu.ac.ir, s_ganjefar@basu.ac.ir
Soheil Ganjefar
Affiliation:
Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. E-mails: m.farahmandrad@alumni.basu.ac.ir, s_ganjefar@basu.ac.ir
Heidar Ali Talebi
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology. E-mail: alit@aut.ac.ir
Mahdi Bayati*
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology. E-mail: alit@aut.ac.ir
*
*Corresponding author. E-mail: bayati.mahdi@aut.ac.ir
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Summary

This paper proposes a novel control framework for a single-master/multi-slave teleoperation system to grasp and handle an object, considering nonlinearity and uncertainty in the dynamics of the slaves and time-varying delay in the communication channel. Based on passive decomposition approach, the dynamics of the slaves are decomposed into two decoupled systems, and then two higher order sliding mode controllers are designed to control them. Also, a synchronization control methodology for the master is developed. Stability is fully studied using the passivity property and Lyapunov theorem. Finally, simulation and practical results confirm that the control system works well against the conditions.

Keywords

Cooperative robotic systemHigher order sliding mode controlLocked systemShape systemSingle-master/multi-slaveSynchronization controlTeleoperation
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 475 - 492
Copyright
© Cambridge University Press 2019 

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